diff --git a/src/main.cpp b/src/main.cpp
index c29e3923..f8c46b3e 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -44,7 +44,9 @@ StereoCamTrigger stereoCamTrigger(60);
 
 ConfigLayer config_layer;
 
+#ifdef PROFILER
 Profiler prof;
+#endif
 
 SensorManager sensor_manager;
 EstimatorManager estimator_manager;
diff --git a/src/utils/profiler.cpp b/src/utils/profiler.cpp
index 50328e3f..1195c8b3 100644
--- a/src/utils/profiler.cpp
+++ b/src/utils/profiler.cpp
@@ -1,27 +1,27 @@
 #include "profiler.hpp"
 #include <cstring>
 
-#ifdef PROFILE
+#ifdef PROFILER
 static DMAMEM Profiler::profiler_section_t sections[PROF_MAX_SECTIONS] = {0};
 #endif
 
 void Profiler::clear() {
-#ifdef PROFILE
+#ifdef PROFILER
     for (auto &sec : sections)
         sec = profiler_section_t();
 #endif
 }
 
 void Profiler::begin(const char *name) {
-#ifdef PROFILE
+#ifdef PROFILER
     // find section by name or first empty slot
-    for(uint32_t i = 0; i < PROF_MAX_SECTIONS; i++) {
-        if(strcmp(sections[i].name, name) == 0 || (sections[i].count == 0 && sections[i].overflowed == 0)) {
+    for (uint32_t i = 0; i < PROF_MAX_SECTIONS; i++) {
+        if (strcmp(sections[i].name, name) == 0 || (sections[i].count == 0 && sections[i].overflowed == 0)) {
             // start section
             strncpy(sections[i].name, name, PROF_MAX_NAME);
-            sections[i].name[PROF_MAX_NAME] = '\0';// ensure null termination
+            sections[i].name[PROF_MAX_NAME] = '\0'; // ensure null termination
             sections[i].start_time = micros();
-            sections[i].started = 1;// label section as started
+            sections[i].started = 1; // label section as started
             return;
         }
     }
@@ -29,19 +29,18 @@ void Profiler::begin(const char *name) {
 }
 
 void Profiler::end(const char *name) {
-#ifdef PROFILE
+#ifdef PROFILER
     // find section by name
-    for(uint32_t i = 0; i < PROF_MAX_SECTIONS; i++) {
-        if(strcmp(sections[i].name, name) == 0) {
+    for (uint32_t i = 0; i < PROF_MAX_SECTIONS; i++) {
+        if (strcmp(sections[i].name, name) == 0) {
             // end section
-            if(sections[i].count < PROF_MAX_TIMES) {
+            if (sections[i].count < PROF_MAX_TIMES) {
                 sections[i].time_lengths[sections[i].count] = micros() - sections[i].start_time;
                 sections[i].count++;
-                sections[i].started = 0;// label section as finished
-                
+                sections[i].started = 0; // label section as finished
+
                 // if count is now at limit, reset count and label as overflowed
-                if(sections[i].count == PROF_MAX_TIMES)
-                {
+                if (sections[i].count == PROF_MAX_TIMES) {
                     sections[i].count = 0;
                     sections[i].overflowed = 1;
                 }
@@ -53,11 +52,11 @@ void Profiler::end(const char *name) {
 }
 
 void Profiler::print(const char *name) {
-#ifdef PROFILE
+#ifdef PROFILER
     uint32_t sum = 0;
     uint32_t min = UINT32_MAX;
     uint32_t max = 0;
-    
+
     // find section by name
     for (uint32_t i = 0; i < PROF_MAX_SECTIONS; i++) {
         if (strcmp(sections[i].name, name) == 0) {
@@ -67,15 +66,15 @@ void Profiler::print(const char *name) {
                 // if the last run was started and not ended, ignore it
                 if (sections[i].started && j == sections[i].count)
                     continue;
-                
+
                 uint32_t delta = sections[i].time_lengths[j];
                 sum += delta;
-                if(delta < min)
+                if (delta < min)
                     min = delta;
-                if(delta > max)
+                if (delta > max)
                     max = delta;
             }
-            
+
             // print values
             Serial.printf("Profiling for: %s\n Min: %u us\n Max: %u us\n Avg: %u us\n", name, min, max,
                           (trueCount == 0 ? 0 : sum / trueCount));
diff --git a/src/utils/profiler.hpp b/src/utils/profiler.hpp
index f987ae3c..a7caafb1 100644
--- a/src/utils/profiler.hpp
+++ b/src/utils/profiler.hpp
@@ -2,13 +2,13 @@
 #define PROFILER_H
 
 // Use this flag to toggle profiling globally.
-#define PROFILE
+// #define PROFILER
 
 #include <Arduino.h>
 
-#define PROF_MAX_SECTIONS 8   // max number of active profiling sections
+#define PROF_MAX_SECTIONS 4   // max number of active profiling sections
 #define PROF_MAX_NAME 16      // max length of section name
-#define PROF_MAX_TIMES (5000) // max number of start/end times per section
+#define PROF_MAX_TIMES (1000) // max number of start/end times per section
 
 /// @brief Object for profiling sections of code.
 struct Profiler {
@@ -28,7 +28,7 @@ struct Profiler {
         /// @brief Label on if a begin() has been called and the corresponding end() hasn't yet
         uint8_t started = 0;
         /// @brief Name for each section
-        char name[PROF_MAX_NAME + 1] = {0};// +1 extra space for null terminator
+        char name[PROF_MAX_NAME + 1] = {0}; // +1 extra space for null terminator
     };
 
     /// @brief clear all profiling sections